DocumentCode
391396
Title
Force control for unknown environment using sliding mode controller with gain-scheduled variable hyperplane
Author
Iwasaki, Masahiro ; Tsujiuchi, Nobutaka ; Koizumi, Takayuki
Author_Institution
Doshisha Univ., Kyoto, Japan
Volume
3
fYear
2002
fDate
5-8 Nov. 2002
Firstpage
1812
Abstract
In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied to force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified by both simulation and experiments.
Keywords
control system synthesis; force control; manipulators; position control; variable structure systems; DC motor actuator; control system design; environmental stiffness; force control; gain-scheduled variable hyperplane; hyper plane; one-degree-of-freedom manipulator system; position control; sliding mode controller; unknown environment control; Contacts; Control systems; Equations; Force control; Impedance; Motion control; Sliding mode control; Switches; Uncertain systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN
0-7803-7474-6
Type
conf
DOI
10.1109/IECON.2002.1185246
Filename
1185246
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